Systems and methods for harvesting plants

ABSTRACT

A harvesting system is provided. The harvesting system includes a track, a cart configured to move along the track, the cart including an upper plate configured to support a plant, one or more sensors, a lifter, and a controller. The controller includes one or more processors, one or more memory modules, and machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the controller to: receive information from the one or more sensors, determine whether the plant in the cart is ready to harvest based on the information, and send to the lifter an instruction for tilting the upper plate by a degree in response to determination that the plant in the cart is ready to harvest.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Patent Application Nos. 62/519,661 and 62/519,304 all filed on Jun. 14, 2017, the entire contents of which are herein incorporated by reference.

TECHNICAL FIELD

Embodiments described herein generally relate to systems and methods for harvesting plants in a grow pod and, more specifically, to harvesting plants in a grow pod based on a weight, a chlorophyll level, and/or a height of the plant.

BACKGROUND

While crop growth technologies have advanced over the years, there are still many problems in the farming and crop industry today. As an example, while technological advances have increased efficiency and production of various crops, many factors may affect a harvest, such as weather, disease, infestation, and the like. Additionally, while the United States currently has suitable farmland to adequately provide food for the U.S. population, other countries and future populations may not have enough farmland to provide the appropriate amount of food.

Harvesting plants requires a great deal of human labor and time. Additionally, once plants are harvested, the land where the plants had been grown needs some time until planting new plants. Thus, a system for automatically harvesting plants in an indoor crop grow pod in a continuous manner may be needed.

SUMMARY

In one embodiment, a harvesting system is provided. The harvesting system includes a track, a cart configured to move along the track, the cart including an upper plate configured to support a plant, one or more sensors, a lifter, and a controller. The controller includes one or more processors, one or more memory modules, and machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the controller to: receive information from the one or more sensors, determine whether the plant in the cart is ready to harvest based on the information, and send to the lifter an instruction for tilting the upper plate by a degree in response to determination that the plant in the cart is ready to harvest.

In another embodiment, a harvesting system includes a track, a cart configured to move along the track, one or more sensors and a controller. The cart includes a lower plate, an upper plate configured to support a plant and pivotally coupled to the lower plate, and an actuator configured to rotate the upper plate against the lower plate. The controller includes one or more processors, one or more memory modules, and machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the controller to: receive information from the one or more sensors, determine whether the plant in the cart is ready to harvest based on the information, and send to the actuator an instruction for rotating the upper plate by a degree against the lower plate in response to determination that the plant in the cart is ready to harvest.

In another embodiment, a method for harvesting a plant in a cart is provided. The method includes sending, to the cart, an instruction for moving on a track, receiving information about the plant in the cart from one or more sensors, determining whether the plant in the cart is ready to harvest based on the information, and sending, to a lifter, an instruction to tilt an upper plate of the cart by a degree against a lower plate of the cart in response to determination that the plant in the cart is ready to harvest.

These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the disclosure. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which:

FIG. 1 depicts an assembly line grow pod, according to embodiments described herein;

FIG. 2 depicts an industrial cart, according to embodiments described herein;

FIG. 3A depicts an industrial cart in a normal mode, according to embodiments described herein;

FIG. 3B depicts an industrial cart in a harvest mode, according to embodiments described herein;

FIG. 4 depicts harvesting plant on an industrial cart, according to embodiments described herein;

FIG. 5A depicts an industrial cart in a normal mode, according to embodiments described herein;

FIG. 5B depicts an industrial cart in a harvest mode, according to embodiments described herein;

FIG. 5C depicts an industrial cart in a harvest mode, according to embodiments described herein;

FIG. 5D depicts an industrial cart in a normal mode, according to embodiments described herein;

FIG. 5E depicts an industrial cart in a harvest mode, according to embodiments described herein;

FIG. 6 depict a harvesting system, according to embodiments described herein;

FIG. 7 depicts an interface of a user computing device, according to embodiments described herein;

FIG. 8 depicts a flowchart for harvesting plants in a grow pod using weight sensors, according to embodiments described herein; and

FIG. 9 depicts a computing device for an assembly line grow pod, according to embodiments described herein.

DETAILED DESCRIPTION

Embodiments disclosed herein include harvesting systems. The harvesting system includes a track, a cart configured to move along the track, the cart including an upper plate configured to support a plant, one or more sensors, a lifter, and a controller. The controller includes one or more processors, one or more memory modules, and machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the controller to: receive information from the one or more sensors, determine whether the plant in the cart is ready to harvest based on the information, and send to the lifter an instruction for tilting the upper plate by a degree in response to determination that the plant in the cart is ready to harvest. The harvesting system according to the present disclosure provides automatic harvesting system for carts moving a track. According to the present disclosure, because the plant is hydroponically cultivated and the roots of the plant are intertwined, the harvesting process may be implemented fast and efficiently.

Referring now to the drawings, FIG. 1 depicts an assembly line grow pod 100 that receives a plurality of industrial carts 104, according to embodiments described herein. The assembly line grow pod 100 may be positioned on an x-y plane as shown in FIG. 1. As illustrated, the assembly line grow pod 100 may include a track 102 that holds one or more industrial carts 104. Each of the one or more industrial carts 104, as described in more detail with reference to FIG. 2, may include one or more wheels 222 a, 222 b, 222 c, and 222 d rotatably coupled to the industrial cart 104 and supported on the track 102, as described in more detail with reference to FIG. 2.

Additionally, a drive motor is coupled to the industrial cart 104. In some embodiments, the drive motor may be coupled to at least one of the one or more wheels 222 a, 222 b, 222 c, and 222 d such that the industrial cart 104 may be propelled along the track 102 in response to a signal transmitted to the drive motor. In other embodiments, the drive motor may be rotatably coupled to the track 102. For example, the drive motor may be rotatably coupled to the track 102 through one or more gears which engage a plurality of teeth arranged along the track 102 such that the industrial cart 104 may be propelled along the track 102.

The track 102 may include a plurality of modular track sections. The plurality of modular track sections may include a plurality of straight modular track sections and a plurality of curved modular track sections. The track 102 may include an ascending portion 102 a, a descending portion 102 b, and a connection portion 102 c. The ascending portion 102 a and the descending portion 102 b may include the plurality of curved modular track sections. The ascending portion 102 a may wrap around (e.g., in a counterclockwise direction as depicted in FIG. 1) a first axis such that the industrial carts 104 ascend upward in a vertical direction. The first axis may be parallel to the z axis as shown in FIG. 1 (i.e., perpendicular to the x-y plane).

The descending portion 102 b may be wrapped around a second axis (e.g., in a counterclockwise direction as depicted in FIG. 1) that is substantially parallel to the first axis, such that the industrial carts 104 may be returned closer to ground level. The plurality of curved modular track sections of the descending portion 102 b may be tilted relative to the x-y plane (i.e., the ground) by a predetermined angle.

The connection portion 102 c may include a plurality of straight modular track sections. The connection portion 102 c may be relatively level with respect to the x-y plane (although this is not a requirement) and is utilized to transfer the industrial carts 104 from the ascending portion 102 a to the descending portion 102 b. In some embodiments, a second connection portion (not shown in FIG. 1) may be positioned near ground level that couples the descending portion 102 b to the ascending portion 102 a such that the industrial carts 104 may be transferred from the descending portion 102 b to the ascending portion 102 a. The second connection portion may include a plurality of straight modular track sections.

In some embodiments, the track 102 may include two or more parallel rails that support the industrial cart 104 via the one or more wheels 222 a, 222 b, 222 c, and 222 d rotatably coupled thereto. In some embodiments, at least two of the parallel rails of the track 102 are electrically conductive, thus capable of transmitting communication signals and/or power to and from the industrial cart 104. In some embodiments, a portion of the track 102 is electrically conductive and a portion of the one or more wheels 222 a, 222 b, 222 c, and 222 d are in electrical contact with the portion of the track 102 which is electrically conductive. In some embodiments, the track 102 may be segmented into more than one electrical circuit. That is, the electrically conductive portion of the track 102 may be segmented with a non-conductive section such that a first electrically conductive portion of the track 102 is electrically isolated from a second electrically conductive portion of the track 102 which is adjacent to the first electrically conductive portion of the track 102.

The communication signals and power may further be received and/or transmitted via the one or more wheels 222 a, 222 b, 222 c, and 222 d of the industrial cart 104 and to and from various components of industrial cart 104, as described in more detail herein. Various components of the industrial cart 104, as described in more detail herein, may include the drive motor, the control device, and one or more sensors.

In some embodiments, the communication signals and power signals may include an encoded address specific to an industrial cart 104 and each industrial cart 104 may include a unique address such that multiple communication signals and power may be transmitted over the same track 102 and received and/or executed by their intended recipient. For example, the assembly line grow pod 100 system may implement a digital command control system (DCC). DDC systems encode a digital packet having a command and an address of an intended recipient, for example, in the form of a pulse width modulated signal that is transmitted along with power to the track 102.

In such a system, each industrial cart 104 includes a decoder, which may be the control device coupled to the industrial cart 104, designated with a unique address. When the decoder receives a digital packet corresponding to its unique address, the decoder executes the embedded command. In some embodiments, the industrial cart 104 may also include an encoder, which may be the control device coupled to the industrial cart 104, for generating and transmitting communications signals from the industrial cart 104, thereby enabling the industrial cart 104 to communicate with other industrial carts 104 positioned along the track 102 and/or other systems or computing devices communicatively coupled with the track 102.

While the implementation of a DCC system is disclosed herein as an example of providing communication signals along with power to a designated recipient along a common interface (e.g., the track 102) any system and method capable of transmitting communication signals along with power to and from a specified recipient may be implemented. In some embodiments, digital data may be transmitted over AC circuits by utilizing a zero-cross, step, and/or other communication protocol.

While not explicitly illustrated in FIG. 1, the assembly line grow pod 100 may also include a harvesting component, a tray washing component, and other systems and components coupled to and/or in-line with the track 102. In some embodiments, the assembly line grow pod 100 may include a plurality of lighting devices, such as light emitting diodes (LEDs). The lighting devices may be disposed on the track 102 opposite the industrial carts 104, such that the lighting devices direct light waves to the industrial carts 104 on the portion the track 102 directly below. In some embodiments, the lighting devices are configured to create a plurality of different colors and/or wavelengths of light, depending on the application, the type of plant being grown, and/or other factors. Each of the plurality of lighting devices may include a unique address such that a master controller 106 may communicate with each of the plurality of lighting devices. While in some embodiments, LEDs are utilized for this purpose, this is not a requirement. Any lighting device that produces low heat and provides the desired functionality may be utilized.

Also depicted in FIG. 1 is a master controller 106. The master controller 106 may include a computing device 130, a nutrient dosing component, a water distribution component, and/or other hardware for controlling various components of the assembly line grow pod 100. In some embodiments, the master controller 106 and/or the computing device 130 are communicatively coupled to a network 620 (as depicted and further described with reference to FIG. 6).

Coupled to the master controller 106 is a seeder component 108. The seeder component 108 may be configured to seed one or more industrial carts 104 as the industrial carts 104 pass the seeder in the assembly line. Depending on the particular embodiment, each industrial cart 104 may include a single section tray for receiving a plurality of seeds. Some embodiments may include a multiple section tray for receiving individual seeds in each section (or cell). In the embodiments with a single section tray, the seeder component 108 may detect presence of the respective industrial cart 104 and may begin laying seed across an area of the single section tray. The seed may be laid out according to a desired depth of seed, a desired number of seeds, a desired surface area of seeds, and/or according to other criteria. In some embodiments, the seeds may be pre-treated with nutrients and/or anti-buoyancy agents (such as water) as these embodiments may not utilize soil to grow the seeds and thus might need to be submerged.

In the embodiments where a multiple section tray is utilized with one or more of the industrial carts 104, the seeder component 108 may be configured to individually insert seeds into one or more of the sections of the tray. Again, the seeds may be distributed on the tray (or into individual cells) according to a desired number of seeds, a desired area the seeds should cover, a desired depth of seeds, etc. In some embodiments, the seeder component 108 may communicate the identification of the seeds being distributed to the master controller 106.

The watering component may be coupled to one or more water lines 110, which distribute water and/or nutrients to one or more trays at predetermined areas of the assembly line grow pod 100. In some embodiments, seeds may be sprayed to reduce buoyancy and then flooded. Additionally, water usage and consumption may be monitored, such that at subsequent watering stations, this data may be utilized to determine an amount of water to apply to a seed at that time.

Also depicted in FIG. 1 are airflow lines 112. Specifically, the master controller 106 may include and/or be coupled to one or more components that delivers airflow for temperature control, humidity control, pressure control, carbon dioxide control, oxygen control, nitrogen control, etc. Accordingly, the airflow lines 112 may distribute the airflow at predetermined areas in the assembly line grow pod 100. For example, the airflow lines 112 may extend to each story of the ascending portion 102 a and the descending portion 102 b.

It should be understood that while some embodiments of the track may be configured for use with a grow pod, such as that depicted in FIG. 1, this is merely an example. The track and track communications are not so limited and can be utilized for any track system where communication is desired.

FIG. 2 depicts an industrial cart 104 that may be utilized for the assembly line grow pod 100, according to embodiments described herein. As illustrated, the industrial cart 104 includes a tray section 220 and one or more wheels 222 a, 222 b, 222 c, and 222 d. The tray section 220 includes an upper plate 220 a and a lower plate 220 b. The one or more wheels 222 a, 222 b, 222 c, and 222 d may be configured to rotatably couple with the track 102, as well as receive power, from the track 102. The track 102 may additionally be configured to facilitate communication with the industrial cart 104 through the one or more wheels 222 a, 222 b, 222 c, and 222 d.

In some embodiments, one or more components may be coupled to the tray section 220. For example, a drive motor 226, a cart computing device 228, and/or a payload 212 may be coupled to the tray section 220 of the industrial cart 104. The tray section 220 may additionally include a payload 212. Depending on the particular embodiment, the payload 212 may be configured as plants (such as in an assembly line grow pod 100); however this is not a requirement, as any payload 212 may be utilized.

The drive motor 226 may be configured as an electric motor and/or any device capable of propelling the industrial cart 104 along the track 102. For example, the drive motor 226 may be configured as a stepper motor, an alternating current (AC) or direct current (DC) brushless motor, a DC brushed motor, or the like. In some embodiments, the drive motor 226 may comprise electronic circuitry which may adjust the operation of the drive motor 226 in response to a communication signal (e.g., a command or control signal) transmitted to and received by the drive motor 226. The drive motor 226 may be coupled to the tray section 220 of the industrial cart 104 or directly coupled to the industrial cart 104.

In some embodiments, the cart computing device 228 may control the drive motor 226 in response to a leading sensor 232, a trailing sensor 234, and/or an orthogonal sensor 236 included on the industrial cart 104. Each of the leading sensor 232, the trailing sensor 234, and the orthogonal sensor 236 may comprise an infrared sensor, visual light sensor, an ultrasonic sensor, a pressure sensor, a proximity sensor, a motion sensor, a contact sensor, an image sensor, an inductive sensor (e.g., a magnetometer) or other type of sensor. The cart 104 further comprises a weight sensor 242 configured to measure the payload 212 on the cart 104.

In some embodiments, the leading sensor 232, the trailing sensor 234, the orthogonal sensor 236 and/or the weight sensor 242 may be communicatively coupled to the master controller 106 (FIG. 1). In some embodiments, the leading sensor 232, the trailing sensor 234, the orthogonal sensor 236 and/or the weight sensor 242 may generate one or more signals that may be transmitted via the one or more wheels 222 a, 222 b, 222 c, and 222 d and the track 102 (FIG. 1). Similarly, some embodiments may be configured with the track 102 and/or the industrial cart 104 communicatively coupled to a network 620 (FIG. 6). Therefore, the one or more signals may be transmitted to the master controller 106 via the network 550 over network interface hardware 934 (FIG. 9) or the track 102 and in response, the master controller 106 may return a control signal to the drive motor 226 for controlling the operation of one or more drive motors 226 of one or more industrial carts 104 positioned on the track 102.

In some embodiments, location markers 224 may be placed along the track 102 or the supporting structures to the track 102 at pre-defined intervals. The orthogonal sensor 236, for example, comprises a photo-eye type sensor and may be coupled to the industrial cart 104 such that the photo-eye type sensor may view the location markers 224 positioned along the track 102 below the industrial cart 104. As such, the cart computing device 228 and/or master controller 106 may receive one or more signals generated from the photo-eye in response to detecting a location marker 224 as the industrial cart travels along the track 102. The cart computing device 228 and/or master controller 106, from the one or more signals, may determine the speed of the industrial cart 104. The speed information may be transmitted to the master controller 106 via the network 620 over network interface hardware 634 (FIG. 9).

FIGS. 3A and 3B depict an operation of the tray of the industrial cart 104 that may be utilized for the assembly line grow pod 100, according to embodiments described herein. The industrial cart 104 includes an upper plate 220 a, a lower plate 220 b, and one or more wheels 222 as shown in FIG. 2. The upper plate 220 a is pivotally coupled to the lower plate 220 b via one or more hinges 230. FIG. 3A depicts the industrial cart 104 in a normal mode moving on the track 102. FIG. 3B depicts the industrial cart 104 in a harvesting mode. During the harvesting mode, the upper plate 220 a is pivotally rotated against the lower plate 220 b such that payload on the upper plate 220 a may be dumped out from the cart 104. As depicted in FIG. 3B, the lower plate 220 b includes an opening 240 that allows a lifter 450 (FIG. 4) to move through.

FIG. 4 depicts harvesting operation of industrial carts, according to embodiments shown and described herein. As illustrated, industrial carts 104 a, 104 b, and 104 c are disposed on a track 102. Each of the industrial carts 104 a, 104 b, and 104 c is depicted as being similarly configured as the industrial cart 104 from FIG. 2. As discussed above, at least a portion of the one or more wheels 222 (or other portion of the industrial carts 104 a, 104 b, and 104 c) may couple with the track 102 to receive communication signals and/or power.

The industrial carts 104 a, 104 b, and 104 c may move along the track 102 in +x direction. That is, the industrial cart 104 a will be at the position of the industrial cart 104 b shown in FIG. 4 at a certain point of time. In embodiments, the industrial cart 104 a operates in a normal mode carrying payload 212, and the industrial cart 104 b is in a harvesting mode. The industrial cart 104 b may operate in a harvest mode when the industrial cart 104 b is determined to be in a harvesting area. For example, the industrial cart 104 b may receive a signal from the master controller 106 that the industrial cart 104 b is in a harvesting area. In response to receiving the signal indicating that the industrial cart 104 b is in the harvesting area, the industrial cart 104 b may stop moving in +x direction. As another example, the track 102 may include a harvesting location marker. The industrial cart 104 b may read the harvesting location marker using a photo-eye detector, and stop moving in response to reading the harvesting location marker.

A lifter 450 located at the bottom of the industrial cart 104 b pushes the upper plate 430 of the industrial cart 104 b through an opening 434 in +z direction. The detailed operations of the lifter 450 will be described below with reference to FIGS. 5A through 5C. In response, the upper plate 430 is rotated about the hinges 230 and payload on the industrial cart 104 b is dumped out from the industrial cart 104 b as indicated by arrows in FIG. 4. The payload on the industrial cart 104 b may be dumped to a conveyor belt 460 which transmit the payload to a collecting area. Once the payload is dumped out from the industrial cart 104 b, the lifter 450 moves down in −z direction such that the upper plate 430 is placed on the lower plate 422 similar to the industrial cart 104 c.

In some embodiments, before the upper plate 430 is pushed up by the lifter 450, the water in the industrial cart 104 b may be removed. For example, the industrial cart 104 b may include water detection sensors for detecting water in the industrial cart 104 b. The master controller 106 may determine that there is water in the industrial cart 104 b, and send an instruction for removing water from the industrial cart 104 b. For example, the master controller 106 may send an instruction to the lifter 450 to rotate such that the industrial cart 104 b is slightly tilted (e.g., by 5 degrees). Then, the water in the industrial cart 104 b may gather at the edge of the industrial cart 104 b where there is a hole through which the water flows out from the industrial cart 104 b. As another example, the master controller 106 may send an instruction to a vacuum robot to remove water from the industrial cart 104 b.

FIGS. 5A, 5B, and 5C depict a y-z plane view of the industrial carts shown in FIG. 4, according to one or more embodiments shown and described herein. FIG. 5A depicts a y-z plane view of the industrial cart 104 a depicted in FIG. 4. In embodiments, the upper plate 220 a is placed on and parallel to the lower plate 220 b. The upper plate 220 a is coupled to the lower plate 220 b via one or more hinges 230. Wheels 222 of the industrial cart 104 a are on the track 102 such that the industrial cart 104 a moves along the track 102.

FIG. 5B depicts a y-z plane view of the industrial cart 104 b depicted in FIG. 4. The industrial cart 104 b is in a harvesting mode. The industrial cart 104 stops moving on the track 102. The lifter 450 is configured to rotate about a pivot 454. As shown in FIG. 5B, the original position of the lifter 450 is indicated in broken lines. In embodiments, the lifter 450 may receive an instruction from the master controller 106 to rotate about the pivot 454. In some embodiments, the lifter 450 may receive an instruction from the industrial cart 104 b to rotate about the pivot 454. In response to receiving the instruction, the lifter 450 rotates counterclockwise to push up the upper plate 430.

Similarly, the upper plate 430 rotates counterclockwise around the hinge 230 as the lifter 450 pushes the upper plate 430. The payload 212 on the upper plate 430 is dumped out from the upper plate 430 into the conveyor belt 460. While the lifter 450 in FIG. 5B rotates to push upward the upper plate 430, any other operation may be implement to push upward the upper plate 430. For example, the lifter 450 may move +z direction to push the upper plate 430 upward. In embodiments, the payload 212 is hydroponically cultivated and the roots of the payload 212 are intertwined. As such, the entire of the payload 212 may be dumped out of the upper plate 430 at a time. In addition, because the payload 212 had been grown on the cart 104 b without any dirt, the harvesting process may be simplified by skipping the process of cleaning out dirt. The lifter 450 includes a wheel 452 rotatably coupled to the lifter 450 such that the wheel 452 smoothly pushes the upper plate 430 by rotating when the lifter 450 is in contact with the upper plate 430 and pushes the upper plate 430.

In embodiments, the lifter 450 pushes the upper plate 430 upward until the upper plate 430 rotates by a certain angel (e.g., 60 degrees). The angle may be predetermined such that payload on the upper plate 430 may slide down or be dumped out from the upper plate 430. In some embodiments, the hinge 230 may prevent the upper plate 430 from rotating more than a certain degrees (e.g., 80 degrees).

FIG. 5C depicts a y-z plane view of the industrial cart 104 b depicted in FIG. 4. After the payload 212 is dumped out from the upper plate 430, the lifter 450 is operated to rotate about the pivot 454 clockwise as depicted in FIG. 5C. The upper plate 430 of the industrial cart 104 b rotates clockwise as the lifter 450 moves in −z direction. Once the upper plate 430 is placed upon and parallel to the lower plate 432, the industrial cart 104 b resumes moving on the track 102. In some embodiments, the industrial cart 104 b determines whether the payload 212 was dumped out from the upper plate 430 before resuming moving on the track 102. For example, a weight sensor in the upper plate 430 may measure weight of an object on the upper plate 430. If the measured weight is above a threshold value, the industrial cart 104 b may transmit an instruction to the lifter 450 to rotate counterclockwise again in order to dump remaining payload on the upper plate 430.

FIGS. 5D and 5E depict harvesting plants according another embodiment shown and described herein. As illustrated, the industrial cart 504 is disposed on a track 102. The industrial cart 504 is depicted as being similarly configured as the industrial cart 104 from FIG. 2. The industrial cart 504 includes an upper plate 520 and a lower plate 522. The upper plate 520 is coupled to the lower plate 522 via an actuator 530. The actuator 530 may include an electric motor configured to rotate the upper plate 520 against the lower plate 522. For example, as shown in FIG. 5E, the actuator 530 rotates the upper plate 520 counterclockwise such that the payload 120 is dumped out from the upper plate 520 into the conveyor belt 460. The actuator 530 may rotate the upper plate 520 by a predetermined degree. Once the payload 120 is dumped, the actuator 530 may rotate the upper plate 520 clockwise until the upper plate 520 is placed upon and parallel to the lower plate 522.

FIG. 6 depicts harvesting plants in carts, according to embodiments described herein. Industrial carts 104 a, 104 b, and 104 c move along the track 102 in +x direction through wheels as discussed above with reference to FIG. 4. The industrial cart 104 a includes an upper plate 420 and a lower plate 422. The industrial cart 104 b includes an upper plate 430 and a lower plate 432. The industrial cart 104 c includes an upper plate 440 and a lower plate 442. While the track 102 is illustrated as a straight track in FIG. 6, the track 102 may be a curved track constituting the ascending portion 102 a or the descending portion 102 b.

In embodiments, the carts 104 a, 104 b, and 104 c include weight sensors 610 a, 610 b, and 610 c, respectively. Each of the weight sensors 610 a, 610 b, and 610 c may be placed in the upper plates 420, 430, and 440 of the carts 104 a, 104 b, and 104 c, respectively. The weight sensors 610 a, 610 b, and 610 c are configured to measure the weight of a payload on the carts, such as plants. The carts 104 a, 104 b, and 104 c also include cart computing devices 612 a, 612 b, and 612 c, respectively. The cart computing devices 612 a, 612 b, and 612 c may be communicatively coupled to the weight sensors 610 a, 610 b, and 610 c and receive weight information from the weight sensors 610 a, 610 b, and 610 c. The cart computing devices 612 a, 612 b, and 612 c may have wireless network interface for communicating with the master controller 106 through a network 620. The master controller 106 may determine whether the measured weight is greater than a threshold weight. The threshold value may be determined based on a plant.

If it is determined that the measured weight is greater than the threshold weight, the master controller 106 may send an instruction to the lifter 450 to rotate as depicted in FIG. 5B to raise the upper plate to dump out payload on the industrial cart, or send an instruction to the actuator 530 in FIG. 5D to rotate the upper plate 520. In some embodiments, each of the carts 104 a, 104 b, and 104 c may include a plurality of weight sensors corresponding to a plurality of cells of the carts 104 a, 104 b, and 104 c. The plurality of weight sensors may determine weights of individual cells or plants on the carts.

In some embodiments, a plurality of weight sensors may be placed on the track 102. The weight sensors are configured to measure the weights of the carts on the track 102 and transmit the weights to the master controller 106. The master controller 106 may determine the weight of payload on a cart by subtracting the weight of the cart from the weight received from the weight sensors on the track 102.

A proximity sensor 602 may be positioned over the carts 104 a, 104 b, and 104 c. In embodiments, the proximity sensor 602 may be attached under the track 102 as depicted in FIG. 6. The proximity sensor 602 may be configured to measure a distance between the proximity sensor 602 and the plants on industrial carts. For example, the proximity sensor 602 may transmit waves and receive waves reflected from the plants. Based on the travelling time of the waves, the proximity sensor 602 may determine the distance between the proximity sensor and the plants. In some embodiments, the proximity sensor 602 may be configured to detect an object within a certain distance. For example, the proximity sensor 602 may detect the plants in the carts 104 b if the plants are within 5 inches from the proximity sensor 602. In some embodiments, the proximity sensor 602 may include laser scanners, capacitive displacement sensors, Doppler Effect sensors, eddy-current sensors, ultrasonic sensors, magnetic sensors, optical sensors, radar sensors, sonar sensors, LIDAR sensors or the like. Some embodiments may not include the proximity sensor 602.

The proximity sensor 602 may have wireless network interface for communicating with the master controller 106 through a network 620. In some embodiments, the proximity sensor 602 may communicate with the master controller 106 through wired connection. The master controller 106 may determine the height of payload on the industrial cart based on the measured distance. For example, the master controller 106 calculates the height of payload by subtracting the measured distance from a distance between the proximity sensor 602 and the upper plate 430 of the industrial cart 104 b. The master controller 106 may determine whether the calculated height is greater than a threshold height. The threshold height may be determined based on a plant. For example, plant logic 544 b of the master controller 106 may store a name of plant and corresponding threshold height.

If it is determined that the calculated height is greater than the threshold height, the master controller 106 may send an instruction to the lifter 450 to rotate as depicted in FIG. 5B to raise the upper plate to dump out payload on the industrial cart. In some embodiments, a plurality of proximity sensors 602 may measure distances between the proximity sensors and the payload, and transmit the distances to the master controller 106. The master controller 106 calculates an average height of the payload based on the received distances from the plurality of proximity sensors 602 and determines whether the average height is greater than the threshold height.

A camera 604 may be positioned over the carts 104 a, 104 b, and 104 c. In embodiments, the camera 604 may be attached under the track 102 as depicted in FIG. 6. The camera 604 may be configured to capture an image of the plants in the cart 104 b. The camera 604 may have a wider angle lens to capture plants of more than one carts. For example, the camera 604 may capture the images of payload in the carts 104 a, 104 b, and 104 c. The camera 604 may include a special filter that filters out artificial LED lights from lighting devices in the assembly line grow pod 100 such that the camera 604 may capture the natural colors of the plants.

The camera 604 may transmit the captured image of the payload to the master controller 106. The camera 604 may have wireless network interface for communicating with the master controller 106 through a network 620. In some embodiments, the camera 604 may communicate with the master controller 106 through wired connection. The master controller 106 may determine whether payload is ready to harvest based on the color of the captured image. In embodiments, the master controller 106 may compare the color of the captured image with a threshold color for the identified plant on the industrial cart. The predetermined color for one or more plants may be stored in the plant logic 544 b of the master controller 106. For example, the master controller compares RGB levels of the captured image with the RGB levels of the predetermined color, and determines that the plant is ready to harvest based on the comparison.

The master controller 106 may include a computing device 130. The computing device 130 may include a memory component 540, which stores systems logic 544 a and plant logic 544 b. As described in more detail below, the systems logic 544 a may monitor and control operations of one or more of the components of the assembly line grow pod 100. For example, the systems logic 544 a may monitor and control operations of the light devices, the water distribution component, the nutrient distribution component, the air distribution component, and harvesting components including the lifter 450. The plant logic 544 b may be configured to determine and/or receive a recipe for plant growth and may facilitate implementation of the recipe via the systems logic 544 a.

Additionally, the master controller 106 is coupled to a network 620. The network 620 may include the internet or other wide area network, a local network, such as a local area network, a near field network, such as Bluetooth or a near field communication (NFC) network. The network 620 is also coupled to a user computing device 622 and/or a remote computing device 624. The user computing device 622 may include a personal computer, laptop, mobile device, tablet, server, etc. and may be utilized as an interface with a user. As an example, the total weight of plant in each of the industrial carts along with the identification of the industrial cart may be transmitted to the user computing device 622. The average height of a plant in each of the industrial carts may be also transmitted to the user computing device 622. The display of the user computing device 622 may display the weight of plant for each of the carts, as depicted in FIG. 7.

FIG. 7 depicts a display 700 of the user computing device 622, according to one or more embodiments shown and described herein. In embodiments, the display 700 may display three windows 710, 720, and 730 displaying information about the industrial carts 104 a, 104 b, and 104 c depicted in FIG. 6 respectively. Each of the windows 710, 720, and 730 displays information about plant carried in corresponding industrial cart, the weight of the plant, and the height of the plant. The display 700 may also indicate the industrial cart 104 b is in a harvesting zone, and ask whether the plant in the industrial cart 104 b is ready to harvest. The harvesting zone may be a zone where the lifter 450 is located, e.g., where the industrial cart 104 b in FIG. 4 is located. Additionally, the camera 604 may be positioned above the harvesting zone. In some embodiments, the lighting device above the harvesting zone may output natural light (e.g., daylight toned light) such that the camera 604 above the harvesting zone may capture the image of the plant under natural light. A user may initiate harvesting the plant by pushing the button 740. In response to the push of the Yes button 740, the user computing device 622 may send an instruction to the lifter 450 to push up the upper plate 430 of the industrial cart 104 b such that the plant on the industrial cart 104 b is dumped out from the industrial cart 104 b. If the user determines that the plant is not ready to harvest, the user may hold off harvesting the plant by pushing the No button 750.

Referring back to FIG. 6, similar to the user computing device 622, the remote computing device 624 may include a server, personal computer, tablet, mobile device, etc. and may be utilized for machine to machine communications. The remote computing server 624 may store information about carts, identification information about plants on each of carts, weight of plants on each of the carts, height of plants on each of the carts, etc.

FIG. 8 depicts a flowchart for harvesting plants in a grow pod using sensors, according to one or more embodiments described herein. At block 810, the master controller 106 identifies plants on a cart. For example, the master controller 106 may communicate with the carts 104 a, 104 b, and 104 c and receive information about the plants in the carts 104 a, 104 b, and 104 c. As another example, the information about the plants in the carts 104 a, 104 b, and 104 c may be pre-stored in the master controller 106 when the seeder component 108 seeds plant A in the carts 104 a, 104 b, and 104 c.

Specifically, each of the carts may be assigned to a unique address, and when the seeder component 108 seeds a certain plant into a cart, the unique address of the cart is associated with the information about the certain plant. The association of the unique address and the information about the certain plant may be pre-stored in the master controller 106. For example, the master controller 106 may determine that plant A is in the industrial carts 104 a, 104 b, and 104 c based on the association of the unique addresses for the carts 104 a, 104 b, and 104 c and the information about plant A. As another example, an operator inputs the type of seeds that need to be grown in the carts through the user computing device 622, and the master controller 106 receives the type of seeds from the user computing device 622.

At block 820, the master controller 106 receives data from sensors with respect to corresponding industrial cart. In embodiments, the master controller 106 receives the weight of the plants in the cart 104 b from the weight sensor 610 b that measures the weight of the plants on the cart 104 b in FIG. 6. The master controller 106 may calculate the actual weight of plant by subtracting the weight of water in corresponding cart from the weight received from the weight sensor. In some embodiments, the industrial cart may include sensors for detecting water that has not been absorbed by the plant and detecting an amount of the water. The master controller 106 may estimate the weight of the water in the industrial cart based on data from the sensors for detecting water. In some embodiments, water industrial cart may be removed prior to weighting as discussed above with reference to FIG. 4, and thus, the weight sensor 610 b may accurately measure the weight of the plants in the cart 104 b.

In some embodiments, the master controller 106 may also receive data from the proximity sensor 602. For example, the proximity sensor 602 determines the distance between the proximity sensor 602 and the plants in the cart 104 b in a z-axis direction, and transmits the distance data to the master controller 106 through the network 620. In some embodiments, the master controller 106 may receive a captured image of the plants on the industrial cart 104 b from the camera 604. The camera 604 may capture the image of the plants in the industrial cart 104 b. The camera 604 may include a special filter that filters out artificial LED lights from lighting devices in the assembly line grow pod 100 such that the captured image illustrates the natural colors of the plants.

At block 830, the master controller 106 determines whether the plant on the industrial cart 104 b is ready to harvest. In embodiments, the master controller 106 determines whether the weight of plants on the cart is greater than a threshold weight for the identified plant. The threshold value may be a weight of a certain plant in a cart that is grown enough to be harvested. The threshold value may be stored in the plant logic 544 b, and the master controller 106 may retrieve the threshold value from the plant logic 544 b.

For example, the plant logic 544 b of the master controller 106 may store a name of plant and corresponding threshold weight, as shown in Table 1 below.

TABLE 1 Plant Threshold weight Plant A 10 kilograms Plant B  3 kilograms Plant C  5 kilograms Plant D  2 kilograms

The master controller 106 determines that the plant is ready to harvest if the weight of plant on the cart 104 b is greater than the threshold weight. For example, if the weight of the plant A on the industrial cart 104 b is 10.8 kilograms, the master controller 106 determines that the plant is ready to harvest because the measured weight is greater than the threshold weight for plant A which is 10 kilograms.

In some embodiments, the master controller 106 determines the average height of the plants based on the data from the proximity sensor 602. If the average height of the plants is greater than a threshold height, the master controller 106 may determine that the plant in the cart 104 b is ready to harvest. For example, the plant logic 544 b of the master controller 106 may store the name of plant and corresponding threshold average height, as shown in Table 2 below.

TABLE 2 Plant Threshold height Plant A 18 centimeters Plant B 30 centimeters Plant C 50 centimeters Plant D 15 centimeters

In some embodiments, the master controller 106 estimates the level of chlorophyll of the plant based on the captured image of the plant. For example, the master controller 106 may implement image processing on the captured image of the plant to estimate the level of chlorophyll of the plants. If the level of chlorophyll for the plants in the cart 104 b is less than a predetermined value, the master controller 106 may determine that the plant is ready to harvest.

At block 840, the master controller 106 transmits, to the lifter 450, an instruction for tilting the upper plate 430 of the industrial cart 104 b such that plant on the upper plate 430 of the industrial cart 104 b is dumped out to from the industrial cart 104 b in response to determination that the plant is ready to harvest. The lifter 450 pushes up the upper plate 430 of the industrial cart 104 b as shown in FIG. 5B in response to receiving the instruction from the master controller 106. In some embodiments, the master controller 106 transmits, to the actuator 530 (FIGS. 5A and 5B), an instruction for tilting the upper plate 430 of the industrial cart 104 b such that plant on the upper plate 430 of the industrial cart 104 b is dumped out to from the industrial cart 104 b. In this regard, the assembly line grow pod 100 allow the plant on carts to be harvested at a proper time (e.g., after the plants are fully grown or ripen).

FIG. 9 depicts a computing device 130 for an assembly line grow pod 100, according to embodiments described herein. As illustrated, the computing device 130 includes a processor 930, input/output hardware 932, the network interface hardware 934, a data storage component 936 (which stores systems data 938 a, plant data 938 b, and/or other data), and the memory component 540. The memory component 540 may be configured as volatile and/or nonvolatile memory and as such, may include random access memory (including SRAM, DRAM, and/or other types of RAM), flash memory, secure digital (SD) memory, registers, compact discs (CD), digital versatile discs (DVD), and/or other types of non-transitory computer-readable mediums. Depending on the particular embodiment, these non-transitory computer-readable mediums may reside within the computing device 130 and/or external to the computing device 130.

The memory component 540 may store operating logic 942, the systems logic 544 a, and the plant logic 544 b. The systems logic 544 a and the plant logic 544 b may each include a plurality of different pieces of logic, each of which may be embodied as a computer program, firmware, and/or hardware, as an example. A local interface 946 is also included in FIG. 9 and may be implemented as a bus or other communication interface to facilitate communication among the components of the computing device 130.

The processor 930 may include any processing component operable to receive and execute instructions (such as from a data storage component 936 and/or the memory component 540). The input/output hardware 932 may include and/or be configured to interface with microphones, speakers, a display, and/or other hardware.

The network interface hardware 934 may include and/or be configured for communicating with any wired or wireless networking hardware, including an antenna, a modem, LAN port, wireless fidelity (Wi-Fi) card, WiMax card, ZigBee card, Bluetooth chip, USB card, mobile communications hardware, and/or other hardware for communicating with other networks and/or devices. From this connection, communication may be facilitated between the computing device 130 and other computing devices, such as the user computing device 622 and/or remote computing device 624.

The operating logic 942 may include an operating system and/or other software for managing components of the computing device 130. As also discussed above, systems logic 544 a and the plant logic 544 b may reside in the memory component 540 and may be configured to perform the functionality, as described herein.

It should be understood that while the components in FIG. 9 are illustrated as residing within the computing device 130, this is merely an example. In some embodiments, one or more of the components may reside external to the computing device 130. It should also be understood that, while the computing device 130 is illustrated as a single device, this is also merely an example. In some embodiments, the systems logic 544 a and the plant logic 544 b may reside on different computing devices. As an example, one or more of the functionalities and/or components described herein may be provided by the user computing device 622 and/or remote computing device 624.

Additionally, while the computing device 130 is illustrated with the systems logic 544 a and the plant logic 544 b as separate logical components, this is also an example. In some embodiments, a single piece of logic (and/or or several linked modules) may cause the computing device 130 to provide the described functionality.

As illustrated above, various embodiments for harvesting plants in a grow pod are disclosed. These embodiments create a quick growing, small footprint, chemical free, low labor solution to growing microgreens and other plants for harvesting. These embodiments may create recipes and/or receive recipes that dictate the timing and wavelength of light, pressure, temperature, watering, nutrients, molecular atmosphere, and/or other variables the optimize plant growth and output. The recipe may be implemented strictly and/or modified based on results of a particular plant, tray, or crop.

Accordingly, some embodiments may include a harvesting system. The harvesting system includes a track, a cart configured to move along the track, the cart including an upper plate configured to support a plant, one or more sensors, a lifter, and a controller. The controller includes one or more processors, one or more memory modules, and machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the controller to: receive information from the one or more sensors, determine whether the plant in the cart is ready to harvest based on the information, and send to the lifter an instruction for tilting the upper plate by a degree in response to determination that the plant in the cart is ready to harvest. The claimed subject matter provides automatic harvesting system for carts moving a track. According to the claimed subject matter, because the plant is hydroponically cultivated and the roots of the payload 212 are intertwined, the harvesting process is implemented fast and efficiently.

While particular embodiments and aspects of the present disclosure have been illustrated and described herein, various other changes and modifications can be made without departing from the spirit and scope of the disclosure. Moreover, although various aspects have been described herein, such aspects need not be utilized in combination. Accordingly, it is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the embodiments shown and described herein.

It should now be understood that embodiments disclosed herein includes systems, methods, and non-transitory computer-readable mediums for harvesting plants. It should also be understood that these embodiments are merely exemplary and are not intended to limit the scope of this disclosure. 

What is claimed is:
 1. A harvesting system comprising: a track, a cart configured to move along the track, the cart including an upper plate configured to support a plant, one or more sensors; a lifter; and a controller comprising: one or more processors; one or more memory modules; and machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the controller to: receive information from the one or more sensors; determine whether the plant in the cart is ready to harvest based on the information; and send to the lifter an instruction for tilting the upper plate by a predetermined degree in response to determination that the plant in the cart is ready to harvest, wherein the lifter is configured to rotate to tilt the upper plate in response to the instruction for tilting the upper plate.
 2. The harvesting system of claim 1, wherein the cart includes a lower plate and the upper plate is pivotally coupled to the lower plate.
 3. The harvesting system of claim 2, wherein the lower plate includes an opening and the lifter is configured to pass through the opening.
 4. The harvesting system of claim 1, wherein the lifter includes a wheel at one end of the lifter, and the wheel is configured to rotate when the lifter is in contact with the upper plate and pushes the upper plate.
 5. The harvesting system of claim 1, wherein the track includes a harvesting zone, and the lifter is located within the harvesting zone.
 6. The harvesting system of claim 5, further comprising: a lighting device positioned over the harvesting zone and configured to output natural light.
 7. The harvesting system of claim 1, wherein the one or more sensors include a proximity sensor, and the machine readable instructions stored in the one or more memory modules, when executed by the one or more processors, cause the controller to calculate a height of the plant in the cart based on information received from the proximity sensor.
 8. The harvesting system of claim 1, wherein the one or more sensors include a weight sensor, and the machine readable instructions stored in the one or more memory modules, when executed by the one or more processors, cause the controller to determine a weight of the plant in the cart based on information received from the weight sensor.
 9. The harvesting system of claim 1, wherein the one or more sensors include a camera configured to capture an image of the plant, and the machine readable instructions stored in the one or more memory modules, when executed by the one or more processors, cause the controller to: process the captured image received from the camera; and determine a chlorophyll level of the plant based on the processed image.
 10. A harvesting system comprising: a track, a cart configured to move along the track, the cart including: a lower plate; an upper plate configured to support a plant and pivotally coupled to the lower plate via a hinge; and the hinge including an actuator configured to rotate the upper plate against the lower plate; one or more sensors; and a controller comprising: one or more processors; one or more memory modules; and machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the controller to: receive information from the one or more sensors; determine whether the plant in the cart is ready to harvest based on the information; and send to the actuator an instruction for rotating the upper plate by a degree against the lower plate in response to determination that the plant in the cart is ready to harvest.
 11. The harvesting system of claim 10, wherein the one or more sensors include a proximity sensor, and the machine readable instructions stored in the one or more memory modules, when executed by the one or more processors, cause the controller to calculate a height of the plant in the cart based on information received from the proximity sensor.
 12. The harvesting system of claim 10, wherein the one or more sensors include a weight sensor, and the machine readable instructions stored in the one or more memory modules, when executed by the one or more processors, cause the controller to determine a weight of the plant in the cart based on information received from the weight sensor.
 13. The harvesting system of claim 10, wherein the one or more sensors include a camera configured to capture an image of the plant, and the machine readable instructions stored in the one or more memory modules, when executed by the one or more processors, cause the controller to: process the captured image received from the camera; and determine a chlorophyll level of the plant based on the processed image.
 14. The harvesting system of claim 10, further comprising: a harvesting zone; and a lighting device positioned over the harvesting zone and configured to output natural light.
 15. The harvesting system of claim 10, wherein the actuator includes an electric motor.
 16. A method for harvesting a plant in a cart, the method comprising: sending, to the cart, an instruction for moving on a track; receiving information about the plant in the cart from one or more sensors; determining whether the plant in the cart is ready to harvest based on the information; and sending, to a lifter, an instruction to tilt an upper plate of the cart by a degree against a lower plate of the cart in response to determination that the plant in the cart is ready to harvest, wherein the lifter is configured to rotate to tilt the upper plate in response to the determination that the plant in the cart is ready to harvest.
 17. The method of claim 16, further comprising: calculating a height of the plant in the cart based on information received from a proximity sensor; and determining whether the plant in the cart is ready to harvest based on the height.
 18. The method of claim 16, further comprising: determining a weight of the plant in the cart based on information received from a weight sensor; and determining whether the plant in the cart is ready to harvest based on the weight.
 19. The method of claim 16, further comprising: receiving an image of the plant from a camera; processing the captured image; determining a chlorophyll level of the plant based on the processed image; and determining whether the plant in the cart is ready to harvest based on the chlorophyll level.
 20. The method of claim 16, wherein the instruction includes an instruction for rotating the lifter by a predetermined degree. 